Header header
float64 cmdRate # 100-1000Hz
uint8 numOfCmd # 1(only j7(gripper))     6(j1-j6)  7(j1-j7) (while interpolyReq=3 auto set numOfCmd=7)
uint8 interpolyReq # 0(default control motor directly)    1(internal default method)    10(internal linear interpolation) 
uint8 mode              # 0(default)    1(not enabled)       2(not enabled)
float64[] joint1RadList # j1/deg        x/mm                 x/mm
float64[] joint2RadList # j2/deg        y/mm                 y/mm
float64[] joint3RadList # j3/deg        z/mm                 z/mm
float64[] joint4RadList # j4/deg        euler_Z/deg          Q_w
float64[] joint5RadList # j5/deg        euler_Y/deg          Q_x
float64[] joint6RadList # j6/deg        euler_X/deg          Q_y
float64[] joint7RadList # j7/deg        ____                 Q_z
float64[] timeLists     # s             s                    s      value range:[0,50]  (first point is 0s)
float64[] velocity      # deg/s         mm/s                 mm/s
float64[] acceleration  # deg/ss        mm/ss                mm/ss